US Patent 9850712 Determining drilling state for trajectory control

Methods are provided for determining the drilling state of a downhole tool and controlling the trajectory of the downhole tool in a wellbore during a drilling operation. One method may include identifying a drilling parameter indicative of the drilling state of the downhole tool in the wellbore. The method may also include determining the drilling state based on the identified drilling parameter. The identified drilling parameter may be obtained from a sensor communicatively coupled with a processor and disposed in the wellbore. The method may further include adjusting the operation of an integral controller based on the determined drilling state to control the trajectory of the downhole tool in the wellbore during the drilling operation.